CN111546340A - Electromagnetic drive's multistable software mechanical arm system - Google Patents
Electromagnetic drive's multistable software mechanical arm system Download PDFInfo
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- CN111546340A CN111546340A CN202010392524.5A CN202010392524A CN111546340A CN 111546340 A CN111546340 A CN 111546340A CN 202010392524 A CN202010392524 A CN 202010392524A CN 111546340 A CN111546340 A CN 111546340A
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- 239000007779 soft material Substances 0.000 claims description 34
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
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- 239000000741 silica gel Substances 0.000 claims description 3
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- 229910001285 shape-memory alloy Inorganic materials 0.000 description 2
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- 229920001746 electroactive polymer Polymers 0.000 description 1
- 239000000017 hydrogel Substances 0.000 description 1
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- 210000003205 muscle Anatomy 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1635—Programme controls characterised by the control loop flexible-arm control
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Abstract
The invention discloses an electromagnetically-driven multi-stable soft mechanical arm system. In the electromagnetic-driven multi-stable-state soft mechanical arm system, the multi-stable-state soft mechanical arm body is formed by connecting a plurality of soft drivers in series and/or in parallel, the soft drivers are driven by the driving force generated after the electromagnets are electrified, and the number of electromagnet pairs is equal to the degree of freedom of the soft mechanical arm, so that the control requirement of the soft mechanical arm with the ultra-redundant degree of freedom can be met. And each soft driver can keep a stable state after power failure, so that the power consumption of the system is greatly reduced, and the heating problem caused by long-time electrification of the electromagnet can be avoided. In addition, the controller controls the on-off state of the programmable switch array based on the sensing information of the sensor, so that the motion form of the multi-stable soft mechanical arm body is controlled, the control mode is simple and reliable, the control requirement of the soft mechanical arm with super-redundancy freedom degree can be well met, and the control and the positioning of the target object are also accurate.
Description
Technical Field
The invention relates to the technical field of soft mechanical arms, in particular to an electromagnetic-driven multi-stable-state soft mechanical arm system.
Background
The soft mechanical arm is a mechanical arm system which is made of soft materials and has continuous motion characteristics, and different from a rigid mechanical arm which is made of rigid rod pieces, the soft mechanical arm is made of soft materials and can realize flexible contact and safe control with a target object. Meanwhile, the soft mechanical arm theoretically has infinite multiple degrees of freedom, compared with the traditional rigid mechanical arm, the flexible mechanical arm is easy to realize a super-redundant degree of freedom structure, and has unique advantages in the aspects of adapting to complex non-structural environments and generating flexible motion. The safe flexible control and the adaptability of the complex non-structural environment enable the soft mechanical arm to have huge application prospects in the fields of disaster rescue, man-machine cooperation, medical services and the like, and become the leading-edge field and the hot direction of domestic and foreign robot research.
Although the software mechanical arm has infinite multi-degree of freedom theoretically, a plurality of mutually independent driving forces need to be input for actively controlling the software structure, the number of the driving forces is equal to the actual controllable degree of freedom of the software mechanical arm, and the driving forces reflect the flexibility of the motion of the software mechanical arm. Therefore, in the existing soft mechanical arm driving mode, large-scale movable operation cannot be realized due to the limitation of a gas compressor, a gas pipeline and the like in pneumatic artificial muscle, pneumatic pressure driving and the like, and the super-redundant degree of freedom is difficult to realize due to the limitation of the pipeline; in the rope system control, each degree of freedom corresponds to one driving motor, and the realization of the super-redundant degree of freedom of the soft mechanical arm means that a large number of driving motors are needed, so that the system is heavy and mobile operation cannot be realized; the hydrogel driving is mainly oriented to the water environment, and the working environment is greatly limited; the shape memory alloy and the shape memory polymer have the shape memory function, but the change form is single, for example, the shape memory alloy only has two states of high temperature and low temperature, and the temperature control can increase the complexity of the system; the driving voltage required by the electroactive polymer is very high, the output force is small, and the control requirement of the super-redundancy degree-of-freedom soft mechanical arm is difficult to meet.
Disclosure of Invention
The invention provides an electromagnetic-driven multistable soft mechanical arm system, which aims to solve the technical problem that the conventional soft mechanical arm is difficult to meet the control requirement of super-redundancy freedom degree.
According to one aspect of the present invention, there is provided an electromagnetically driven multistable soft mechanical arm system comprising: the multi-stable state soft mechanical arm comprises a power supply, a controller, a programmable switch array, a multi-stable state soft mechanical arm body, a sensor and a tail end control device, wherein the multi-stable state soft mechanical arm body is formed by connecting a plurality of soft drivers in series and/or in parallel, the soft drivers drive driving force generated after being electrified by utilizing electromagnets and keep stable state after being powered off, the tail end control device is fixedly arranged at the front end of the multi-stable state soft mechanical arm body and is used for controlling a target object, the sensor is arranged on the multi-stable state soft mechanical arm body and the tail end control device and is used for sensing the motion state of the multi-stable state soft mechanical arm body and the relative state between the tail end control device and the target object, the power supply is connected with the programmable switch array through a lead and is used for outputting current, the programmable switch array is respectively and independently connected, the programmable switch array is used for controlling the on-off of each current loop, the sensor and the programmable switch array are also connected with the controller, and the controller is used for controlling the on-off state of the programmable switch array according to the sensing information of the sensor.
Further, the soft driver comprises a sliding type bistable driver and/or a folding type bistable driver, the sliding type bistable driver is driven by tangential force between the pair of electromagnets after being electrified, and the folding type bistable driver is driven by normal force between the pair of electromagnets after being electrified.
Further, the sliding type bistable driver comprises two electromagnet pairs, two hard material bodies and two soft material bodies, wherein the two hard material bodies are only arranged to slide up and down, the two soft material bodies are respectively connected with the two upper ends and the two lower ends of the hard material bodies, the two electromagnet pairs are arranged up and down, the two electromagnets of each electromagnet pair are respectively installed on the two hard material bodies, when one electromagnet is electrified, the other electromagnet is powered off, the electrified electromagnet pairs attract each other and drive the two hard material bodies to slide relatively, when the two electrified electromagnets are aligned, the two powered-off electromagnets are staggered, the distance between the two hard material bodies is the largest, and at the moment, the sliding type bistable driver is in a stable balanced state.
Further, when the two electromagnet pairs are respectively electrified, the sliding type bistable driver is in different stable states, and the controller controls the on-off states of the two electromagnet pairs through the programmable switch array to realize the switching of the sliding type bistable driver between the two stable states.
Furthermore, the fold line type bistable driver comprises three hard material bodies, a soft material body and an electromagnet pair, wherein the two hard material bodies are arranged in parallel, the third hard material body is intersected with the plane where the two parallel hard material bodies are located, one end of the third hard material body is connected with one end of one of the hard material bodies, the hard material bodies can only slide up and down, the soft material bodies are respectively connected with the two parallel hard material bodies, one electromagnet of the electromagnet pair is arranged on the third hard material body, the other electromagnet is arranged on the soft material body, one ends of the two electromagnets are connected, the other ends of the two electromagnets are arranged in an angle, when the power is on, the fold line type structure formed by the two electromagnets mutually attracts and drives the two parallel hard material bodies to mutually approach (with opposite magnetism) or mutually repel (with the same magnetism), no force is applied between the fold line type structures when the power is cut off.
Furthermore, the power supply is a direct current power supply, and the driving freedom degree of the soft mechanical arm can be increased by increasing the number of the conducting wires connected with the programmable switch array and the electromagnet.
Further, the working modes of the multi-stable state soft mechanical arm system comprise a fixed working mode and a mobile working mode, and in the mobile working mode, the power supply, the controller and the programmable switch array are fixedly installed on the multi-stable state soft mechanical arm body.
Further, the soft material body is made of silica gel or resin.
The invention has the following effects:
the electromagnetic drive multistable soft mechanical arm system comprises a multistable soft mechanical arm body, wherein the multistable soft mechanical arm body is formed by connecting a plurality of soft drivers in series and/or in parallel, the multistable soft mechanical arm body can form soft mechanical arms in various forms and can be suitable for different application scenes, the soft drivers are driven by driving force generated by electrifying electromagnets, each electromagnet pair has an independent driving function, and the number of the electromagnet pairs is equal to the degree of freedom of the soft mechanical arm, so that the control requirement of the soft mechanical arm with super-redundancy degree of freedom can be met. And each soft driver can keep a stable state after power failure, so that the power consumption of the system is greatly reduced, and the heating problem caused by long-time electrification of the electromagnet can be avoided. In addition, the controller controls the on-off state of the programmable switch array based on the sensing information of the sensor, so that the independent control of the on-off state of each electromagnet can be realized, the motion form of the multi-stable soft mechanical arm body is controlled, the control mode is simple and reliable, the control requirement of the soft mechanical arm with the super-redundancy degree of freedom can be well met, and the control and the positioning of a target object are also accurate.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of the structure of an electromagnetically driven multi-stable soft mechanical arm system according to the preferred embodiment of the present invention.
Fig. 2 is a schematic structural diagram of the sliding bistable driver of the preferred embodiment of the present invention in a stable state 1.
Fig. 3 is a schematic structural diagram of the sliding bistable driver of the preferred embodiment of the present invention in the stable state 2.
Fig. 4 is a schematic structural diagram of the creased bistable driver of the preferred embodiment of the present invention in a stable state 1.
Fig. 5 is a schematic structural diagram of the creased bistable driver of the preferred embodiment of the present invention in the stable state 2.
Figure 6 is a schematic front view of a tandem multi-stable soft robotic arm body 4 according to one embodiment of the present invention.
Figure 7 is a top view of a tandem multi-stable soft robotic arm body 4 according to one embodiment of the present invention.
Figure 8 is an axial view of the multi-stable robotic arm body 4 in tandem configuration in accordance with one embodiment of the present invention.
Description of the reference numerals
1. A power source; 2. a controller; 3. a programmable switch array; 4. a multistable soft mechanical arm body; 5. a sensor; 6. a terminal control device; 41. an electromagnet pair; 42. a body of hard material; 43. a body of soft material.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the accompanying drawings, but the invention can be embodied in many different forms, which are defined and covered by the following description.
As shown in fig. 1 to 5, a preferred embodiment of the present invention provides an electromagnetically driven multistable soft mechanical arm system, wherein electromagnet pairs 41 are energized to generate a magnetic field to drive the soft mechanical arm to move, each electromagnet pair 41 has an independent driving function, the number of electromagnet pairs 41 is equal to the degree of freedom of the soft mechanical arm, so as to satisfy the control requirement of the soft mechanical arm with super-redundant degree of freedom, and a multistable soft structure is adopted to realize the state maintenance under the power-off condition, so that the soft mechanical arm can move in a low power consumption state. Specifically, the electromagnetic-driven multi-stable-state soft mechanical arm system comprises a power supply 1, a controller 2, a programmable switch array 3, a multi-stable-state soft mechanical arm body 4, a sensor 5 and a terminal control device 6, wherein the multi-stable-state soft mechanical arm body 4 is formed by connecting a plurality of soft drivers in series and/or in parallel, the soft drivers are driven by driving force generated after the electromagnets are electrified 41, and the soft drivers can keep a stable state after the electromagnets are powered off. The end control device 6 is fixedly installed at the front end of the multi-stable state soft mechanical arm body 4 and is used for controlling a target object, such as grabbing, carrying, rotating the target object, and corresponding end operation tools can be selected according to different task requirements. The sensor 5 is installed on the multi-stable soft mechanical arm body 4 and the end control device 6, the sensor 5 can sense the motion state of the multi-stable soft mechanical arm body 4 and the relative state between the end control device 6 and the target object, for example, the sensor 5 on the multi-stable soft mechanical arm body 4 can sense the position, speed, acceleration, angular velocity, etc. of the multi-stable soft mechanical arm body 4, and the sensor 5 on the end control device 6 can sense the relative position between the end control device 6 and the target object. The power supply 1 is connected with the programmable switch array 3 through a lead and used for outputting current, the programmable switch array 3 is separately connected with each electromagnet on the multi-stable soft mechanical arm body 4 through a lead to form a plurality of current loops, and the programmable switch array 3 can control the on-off of each current loop, namely the on-off state of each electromagnet, so as to control whether each electromagnet pair 41 can generate driving force. The power supply 1 adopts a direct current power supply, and because the input of electromagnetic drive is direct current, the driving freedom of the soft mechanical arm can be increased only by increasing the number of the conducting wires connected with the programmable switch array 3 and the electromagnet, and the super-redundancy freedom motion of the soft mechanical arm is easier to realize. The programmable switch array 3 has the characteristics of single input and multiple outputs, the input end of the programmable switch array is connected with a direct current power supply, the output end of the programmable switch array is provided with a plurality of mutually independent current/voltage outputs, a plurality of current loops can be formed, and each current loop can independently supply power to the electromagnet on the multistable soft mechanical arm body 4 to enable the electromagnet to generate a magnetic field. And the control signal of the programmable switch array 3 comes from the controller 2, and the control signal can determine the open-close state of the programmable switch array 3. Therefore, the sensor 5 and the programmable switch array 3 are further connected with the controller 2, the sensor 5 transmits sensing information to the controller 2, the controller 2 performs motion planning based on a soft mechanical arm dynamics or kinematics model aiming at a control task to be realized, so that which electromagnets in the multi-stable state soft mechanical arm body 4 need to be electrified to generate driving force and which electromagnets need to be powered off to not generate driving force are determined, and a control signal is output to the programmable switch array 3 to control the on-off state of the programmable switch array 3, so that the on-off state of each electromagnet is controlled.
It can be understood that, in the electromagnetic-driven multi-stable-state soft mechanical arm system of the preferred embodiment, the multi-stable-state soft mechanical arm body 4 is composed of a plurality of soft mechanical arms connected in series and/or in parallel, so that various types of soft mechanical arms can be formed, and the soft mechanical arms can be suitable for different application scenarios. And each soft driver can keep a stable state after power failure, so that the power consumption of the system is greatly reduced, and the heating problem caused by long-time electrification of the electromagnet can be avoided. In addition, the controller 2 controls the on-off state of the programmable switch array 3 based on the sensing information of the sensor 5, so that the independent control of the on-off state of each electromagnet can be realized, the motion form of the multi-stable soft mechanical arm body 4 is controlled, the control mode is simple and reliable, the control requirement of the soft mechanical arm with super-redundancy freedom degree can be well met, and the control and positioning of the target object are also accurate.
It is understood that the soft driver comprises a sliding bistable driver driven by a tangential force between the pair of electromagnets 41 after being energized and/or a creased bistable driver driven by a normal force between the pair of electromagnets 41 after being energized. Therefore, after a plurality of bistable drivers are connected in series and/or in parallel, the multi-stable state soft mechanical arm body 4 has multi-stable state capability.
Specifically, the sliding bistable actuator includes two electromagnet pairs 41, two hard material bodies 42 and two soft material bodies 43, the two hard material bodies 42 are configured to slide up and down only, and the freedom of movement of the hard material bodies 42 in other directions is limited, for example, limited by a limiting structure such as a dovetail groove. Two soft material bodies 43 are respectively connected with two upper ends and two lower ends of the hard material bodies 42, namely, one soft material body 43 is respectively connected with the upper ends of the two hard material bodies 42, and the other soft material body 43 is respectively connected with the lower ends of the two hard material bodies 42, and when the two hard material bodies 42 slide relatively, the soft material bodies 43 are stretched or compressed. The soft material body 43 is made of silica gel, resin and the like, and the hard material body 42 is made of metal, alloy, plastic, hard composite material and the like. The two electromagnet pairs 41 are arranged up and down, the two electromagnets of each electromagnet pair 41 are respectively installed on the two hard material bodies 42, when one electromagnet pair 41 is electrified, the other electromagnet pair 41 is powered off, tangential force generated by mutual attraction of the electrified electromagnet pairs 41 drives the two hard material bodies 42 to slide relatively, and the powered-off electromagnet pairs 41 have no action force to the inside. When the two hard material bodies 42 are aligned, the soft material body 43 is extruded by the two hard material bodies 42 to be the smallest in length, when the two hard material bodies 42 slide up and down and are staggered for the largest distance, the soft material body 43 is stretched to the largest length, at the moment, the sliding type bistable driver is in a stable balanced state, even if the two electromagnets 41 are powered off, the sliding type bistable driver can still keep the current balanced state, and the electromagnets do not need to be in a power-on state for a long time, so that the system power consumption is greatly reduced, and meanwhile, the heating problem caused by the fact that the electromagnets are powered on for a long time can be avoided. And when the two electrified electromagnets are aligned, the two electrified electromagnets are staggered, and the relative staggered distance of the two hard material bodies 42 is the largest. Therefore, when the two electromagnet pairs 41 are respectively electrified, the sliding type bistable driver is in two different stable states, the controller 2 controls the power-on and power-off states of the two electromagnet pairs 41 through the programmable switch array 3 to realize the switching of the sliding type bistable driver between two stable states, during the switching between the two stable states, the length of the soft material body 43 that is compressed first becomes the shortest, the pressure is then gradually released and the length becomes longest, and when the length of the soft material body 43 reaches the maximum, the sliding bistable actuator is in a stable state, since the switching between the two stable states is achieved only by compressing the soft material body 43 with an external force, if the force required for the state switching is greater than the sum of the structural gravity, the external disturbance force and the like, the sliding bistable actuator can maintain the current state even if both electromagnet pairs 41 are de-energized simultaneously. It can be seen that the mechanically bistable implementation of electromagnetic actuation is conditional, i.e. electromagnetic tangential force > state switching force > structural gravity + external disturbance force. If the condition is not satisfied, the mechanical bistable state of the electromagnetic drive cannot be realized. If the state switching force is less than or equal to the structural gravity and the external interference force, the mechanical bistable state does not exist; if the state switching force is greater than the structural gravity and the external interference force, but the electromagnetic tangential force is less than or equal to the state switching force, the mechanical bistable state exists but cannot be controlled by the electromagnetic tangential force, and the sliding type bistable state driver cannot be realized.
In addition, the fold-type bistable driver comprises three hard material bodies 42, a soft material body 43 and an electromagnet pair 41, wherein two hard material bodies 42 are arranged in parallel, a third hard material body 42 is intersected with the plane where the two hard material bodies 42 are arranged in parallel, one end of the third hard material body 42 is connected with one end of one hard material body 42, the hard material bodies 42 can only slide up and down, namely only the two hard material bodies 42 arranged in parallel can slide, and the third hard material body 42 cannot slide. The soft material body 43 is respectively connected with the two parallel hard material bodies 42, one electromagnet of the electromagnet pair 41 is installed on the third hard material body 42, the other electromagnet is installed on the soft material body 43, one end of the two electromagnets is connected, the other end of the two electromagnets is arranged at an angle, the two hard material bodies 42 which are arranged in parallel are driven to be close to or far away from each other by the normal force generated by mutual attraction (opposite magnetism) or mutual repulsion (same magnetism) of the crease type structures formed by the two electromagnets when the power is on, and no action force exists between the crease type structures when the power is off, so that the opening and closing of the crease type structures are realized. When the creased structure is opened to the maximum, the length of the soft material body 43 is stretched to the longest, and the creased bistable actuator is in a stable equilibrium state; when the creased structure is closed to the maximum extent, the length of the soft material body 43 is stretched to the maximum extent, and the creased bistable actuator is in a stable equilibrium state. It can be understood that when the fold type bistable driver is switched from the open state to the closed state, the two electromagnets attract each other to drive the two hard material bodies 42 arranged in parallel to slide relatively until the maximum closed state is reached by applying a positive direct current to the electromagnet pair 41; when the fold line type bistable driver is switched from a closed state to an open state, the two electromagnets repel each other by applying reverse direct current to the electromagnet pair 41 to drive the two hard material bodies 42 arranged in parallel to slide relatively until the maximum open state is reached. It should be noted that a forward loop and a reverse loop exist between the programmable switch array (3) and each electromagnet, the directions of currents in the two loops are opposite, and only one loop or 0 loop in the two loops is in an electrified state at any time. When the forward loop is switched on and the reverse loop is switched off, forward current passes through the electromagnet; when the reverse loop is switched on and the forward loop is switched off, a reverse current passes through the electromagnet. Similarly, when switching between the two stable states, an external force is required to force the soft material body 43 to be pressed to the shortest and then the pressure release length to the longest, and the normal force between the electromagnet pair 41 provides the force for switching between the two stable states. When one of the stable states is reached, because the switching between the two stable states can be realized only by compressing the soft material body 43 by external force, if the force required for state switching is larger than the sum of the structural gravity, the external interference force and the like, the crease type bistable driver can still keep the current state even if the electromagnet pair 41 is powered off. It can be understood that, no matter the sliding bistable driver or the folding bistable driver, two adjacent soft drivers are fixedly connected through the hard material body 42, and the soft material body 43 is used as a moving part, so as to realize the mechanical bistable characteristic. It can be seen that the mechanically bistable implementation of electromagnetic actuation is conditional, i.e. electromagnetic normal force > state switching force > structural gravity + external disturbance force. If the condition is not satisfied, the mechanical bistable state of the electromagnetic drive cannot be realized. If the state switching force is less than or equal to the structural gravity and the external interference force, the mechanical bistable state does not exist; if the state switching force is greater than the structural gravity and the external interference force, but the electromagnetic normal force is less than or equal to the state switching force, the mechanical bistable state exists but cannot be controlled by the electromagnetic normal force, and the crease type bistable driver cannot be realized.
In addition, the working modes of the multi-stable state soft mechanical arm system comprise a fixed working mode and a mobile working mode, in the mobile working mode, the power supply 1, the controller 2 and the programmable switch array 3 are fixedly installed on the multi-stable state soft mechanical arm body 4, and in the fixed working mode, the power supply 1, the controller 2 and the programmable switch array 3 can be selectively and fixedly connected with or not fixedly connected with the multi-stable state soft mechanical arm body 4.
As shown in fig. 6 to 8, as an embodiment of the present invention, the multi-stable soft mechanical arm body 4 is formed by connecting three units in series, and each unit is formed by three sets of soft drivers arrayed along the circumferential direction. For each section unit, a stretching deformation mode can be realized, and a bending deformation mode can also be realized. The serial arrays realize the superposition of unit deformation, when the deformation modes of the units are the same, the space of the mechanical arm can be extended or shortened in a large range, and when the deformation modes of the units are different, the complicated space configuration of the mechanical arm, such as stretching-bending combined deformation, S configuration and the like, can be realized. On the basis, the planning control of the deformation mode and the tail end path of the soft mechanical arm can be realized, and a feasible solution is provided for improving the operation capability under the complex non-structural environment. In addition, the software drivers can be connected in series and/or in parallel in different ways according to task requirements and working environments to obtain electromagnetically-driven multistable software mechanical arm systems with different forms and different performances, which is not specifically limited herein and is within the protection scope of the present invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An electromagnetically driven multistable soft robotic arm system, comprising:
the multi-stable soft mechanical arm comprises a power supply (1), a controller (2), a programmable switch array (3), a multi-stable soft mechanical arm body (4), a sensor (5) and a tail end control device (6), wherein the multi-stable soft mechanical arm body (4) is formed by connecting a plurality of soft drivers in series and/or in parallel, the soft drivers utilize electromagnets to drive driving force generated after 41 is electrified and keep stable state after the power is cut off, the tail end control device (6) is fixedly installed at the front end of the multi-stable soft mechanical arm body (4) and used for controlling a target object, the sensor (5) is installed on the multi-stable soft mechanical arm body (4) and the tail end control device (6) and used for sensing the motion state of the multi-stable soft mechanical arm body (4) and the relative state between the tail end control device (6) and the target object, the power supply (1) is connected with the programmable switch array (3), the programmable switch array (3) is respectively and independently connected with each electromagnet on the multi-stable soft mechanical arm body (4) through a lead to form a plurality of current loops, the programmable switch array (3) is used for controlling the on-off of each current loop, the sensor (5) and the programmable switch array (3) are further connected with the controller (2), and the controller (2) is used for controlling the on-off state of the programmable switch array (3) according to sensing information of the sensor (5).
2. The electromagnetically driven multistable soft robotic arm system of claim 1,
the soft driver comprises a sliding type bistable driver and/or a crease type bistable driver, the sliding type bistable driver is driven by tangential force between the electromagnets (41) after being electrified, and the crease type bistable driver is driven by normal force between the electromagnets (41) after being electrified.
3. The electromagnetically driven multistable soft robotic arm system of claim 2,
the sliding type bistable driver comprises two electromagnet pairs (41), two hard material bodies (42) and two soft material bodies (43), wherein the two hard material bodies (42) can only slide up and down, the two soft material bodies (43) are respectively connected with the two upper ends and the two lower ends of the hard material bodies (42), the two electromagnet pairs (41) are arranged up and down, the two electromagnets of each electromagnet pair (41) are respectively arranged on the two hard material bodies (42), when one electromagnet pair (41) is electrified, the other electromagnet pair (41) is powered off, the electrified electromagnet pairs (41) attract each other and drive the two hard material bodies (42) to slide relatively, when the two electrified electromagnet pairs are aligned, the two powered-off electromagnets are staggered, and the relative staggered distance of the two hard material bodies (42) is the largest, the sliding bistable actuator is in a stable equilibrium state at this time.
4. The electromagnetically driven multistable soft robotic arm system as claimed in claim 3,
when the two electromagnet pairs (41) are respectively electrified, the sliding type bistable driver is in different stable states, and the controller (2) controls the on-off states of the two electromagnet pairs (41) through the programmable switch array (3) to realize the switching of the sliding type bistable driver between the two stable states.
5. The electromagnetically driven multistable soft robotic arm system of claim 2,
the crease type bistable driver comprises three hard material bodies (42), a soft material body (43) and an electromagnet pair (41), wherein the two hard material bodies (42) are arranged in parallel, the third hard material body (42) is intersected with the plane where the two parallel hard material bodies (42) are located, one end of the third hard material body (42) is connected with one end of one hard material body (42), the hard material body (42) can only slide up and down, the soft material bodies (43) are respectively connected with the two parallel hard material bodies (42), one electromagnet of the electromagnet pair (41) is installed on the third hard material body (42), the other electromagnet is installed on the soft material body (43), one ends of the two electromagnets are connected, the other ends of the two electromagnets are arranged in an angle, and when the electromagnet pair is electrified, the crease type structures formed by the two electromagnets attract each other to drive the two parallel hard material bodies (42) to slide relatively, no force is applied between the fold line type structures when the power is cut off.
6. The electromagnetically driven multistable soft robotic arm system of claim 1,
the power supply (1) is a direct current power supply, and the driving freedom degree of the soft mechanical arm can be increased by increasing the number of the conducting wires connected with the programmable switch array (3) and the electromagnet.
7. The electromagnetically driven multistable soft robotic arm system of claim 1,
the working modes of the multi-stable state soft mechanical arm system comprise a fixed working mode and a mobile working mode, and in the mobile working mode, the power supply (1), the controller (2) and the programmable switch array (3) are fixedly arranged on the multi-stable state soft mechanical arm body (4).
8. The electromagnetically driven multistable soft robotic arm system as claimed in claim 3 or 5,
the soft material body (43) is made of silica gel or resin.
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